Hi Ugo,

It looks like the problem is caused by the root link of the robot being
"world".  I've patched
r36726<https://code.ros.org/trac/ros-pkg/changeset/36726> to
deal with this case.  Please let me know if the patch fixes your problem.

Thanks,
John



On Fri, May 6, 2011 at 2:39 PM, Ugo Cupcic <ugo@shadowrobot.com> wrote:

> Hi John,
>
> Sorry I'm now at home and I don't have access to my code, so I don't have
> the exact lines I wrote.
>
> Anyway I filled the message with the following:
> model_name = "arm_and_hand"
> test_urdf_param_name = "robot_description" (which is the parameter under
> which the urdf is loaded)
>
> joint_names = ["ElbowJSwing"]
> joint_positions = [1.5]
>
> You can have a look at the urdf here:
>
> http://bazaar.launchpad.net/~shadowrobot/sr-ros-interface/trunk/view/head:/shadow_robot/sr_hand/model/robots/arm_and_hand_motor.urdf
>
> Cheers,
>
> Ugo
>
> On Fri, May 6, 2011 at 7:22 PM, John Hsu <johnhsu@willowgarage.com> wrote:
>
>> Hi Ugo,
>> can you show how the service message is filled out and the shadow urdf?
>> thanks,
>> John
>> On May 6, 2011 9:43 AM, "Ugo Cupcic" <ugo@shadowrobot.com> wrote:
>> > Hi,
>> >
>> > I'm trying to use the /gazebo/set_model_configuration service to set a
>> > starting pause for my arm (as suggested here:
>> > http://answers.ros.org/question/857/set-revolute-joint-start-angle).
>> >
>> > I'm getting the following error:
>> > gazebo_model canonical body[world] is not the root link[shadowarm_base]!
>> >
>> > When I spawn my model, I'm specifying world as the reference_frame
>> though.
>> > (rosrun gazebo spawn_model -urdf -param robot_description -model
>> > arm_and_hand -reference_frame world)
>> >
>> > Any help greatly appreciated.
>> >
>> > Cheers,
>> >
>> > Ugo
>> >
>> > --
>> > Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com
>> > Software Engineer | 251 Liverpool Road |
>> > need a Hand? | London N1 1LX | +44 20 7700 2487
>> > http://www.shadowrobot.com/hand/ @shadowrobot
>>
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>>
>
>
> --
> Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com
> Software Engineer | 251 Liverpool Road |
> need a Hand? | London N1 1LX | +44 20 7700 2487
> http://www.shadowrobot.com/hand/ @shadowrobot
>
>
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>